diff --git a/.gitattributes b/.gitattributes
index ba07263cf2db72891a4fd9320413746052badc75..35967a5c2ea088ee2c76d0979267c525687b0fcb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2491,3 +2491,5 @@ dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/mesh/na
 dataset/bathroom_supplies/personal_care/32067f8adf675933af3ca6b18e05ee2e/nail_clipper_014.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/hair_clip_013.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bathroom_supplies/personal_care/34a0f7b4b5af5608bd3a04a75f76143b/mesh/hair_clip_013.glb filter=lfs diff=lfs merge=lfs -text
+dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.glb filter=lfs diff=lfs merge=lfs -text
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material.mtl b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..908c48303a414ed47c5a2bb6a6c340055ed0a68a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl mouthwash_cup_039_geometry_Looks_material_0
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\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..79f5db58c36777e748dd4eaac6925d450ef60f7e
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.glb b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.glb
new file mode 100644
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+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.glb
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.mtl b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4e031a88c9503c946d6389feb52b75cdffe4f4ad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.mtl
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+newmtl mouthwash_cup_039_geometry_Looks_material_0
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+d 1.000000
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cb76793e46f8216d0985e1013e11e5158ddc7d79
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039.obj
@@ -0,0 +1,112414 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039_collision.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f60e0347221f1b7a512511b68b35bb73f1d1fb99
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039_collision.obj
@@ -0,0 +1,20021 @@
+# https://github.com/mikedh/trimesh
+
+o geometry_0
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039_geometry_Looks_material_0.png b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mesh/mouthwash_cup_039_geometry_Looks_material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/material_0.png b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/material_0.png
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e5f2504418bc7cce641ee7ba71b4c799c9724cad
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision.obj
@@ -0,0 +1,20021 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_0.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b9a6fad65b53e4e53ee17aa910e4de23c2f16538
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_0.obj
@@ -0,0 +1,1174 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_1.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..852b2c1c3e8196ef7b5b14a2c3d8ffe7e58cd76c
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_1.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_10.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7524a6d32b0309de3c223de19091a384a770b945
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_10.obj
@@ -0,0 +1,325 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_11.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15bc13266c52870947df64993d30ce6f041ecb42
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_11.obj
@@ -0,0 +1,466 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_12.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1bc94c7aeea771ea2752a2eb92ff8317acd2a26b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_12.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_13.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..92e9aba14c27b7fe7ada26dead73ccfd8eefef2f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_13.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_14.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d7696e6be29c1c3373ec3d32017f82dcf2b39683
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_14.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_15.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba739f52313602851ba3abddf60811a55f821e52
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_15.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_16.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..621b590b5c2f2215f6da42e4f3ec7e0f731353bc
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_16.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_17.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e4dcefa74ff808a8b22ca09e40751359c77f2b62
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_17.obj
@@ -0,0 +1,184 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_18.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..26b93ab7cf607d1417c683917a30e00c1bffd87a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_18.obj
@@ -0,0 +1,379 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_19.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..afdde50a78f13d5f367ab1b51a84d0b22512b345
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_19.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_2.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..93b8ddf81a610c3452a63bc6e901c67978ab1a97
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_2.obj
@@ -0,0 +1,190 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_20.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..628c4f661dbce86e00d4e00c3b2808c3ddf90c3b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_20.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_21.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8cc59050d0dc70d160f36afc8efe6af4e044df16
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_21.obj
@@ -0,0 +1,220 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_22.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d58bb12dbfba184d25c39fca89a138eb13edddfb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_22.obj
@@ -0,0 +1,175 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_23.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3d74a37ed31cd2027099b074af91fd625b848754
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_23.obj
@@ -0,0 +1,205 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_24.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8a7c52f9f4a0f90c02c646e594d96afe02961e45
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_24.obj
@@ -0,0 +1,187 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_25.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4f6a97d7b92e6b4cc51f07c2196375e46351a311
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_25.obj
@@ -0,0 +1,307 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_26.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7fa6770d79082117d56a4d91b7d514e87b3e03b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_26.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_27.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a30d102a1b724eda206cc6b534d8a5f7667d04af
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_27.obj
@@ -0,0 +1,358 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_28.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4db78d9ae65891bcc7ffe45030bb3446b1002034
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_28.obj
@@ -0,0 +1,691 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_29.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..799f6d3df2749fbca22cbeca6976ad4a3b8c32b0
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_29.obj
@@ -0,0 +1,172 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_3.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..596d70e1f60f6f56aba7ca9b5f9a073cf93ef705
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_3.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_30.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4038cf69308b5451b0824ed6b3e6aa7ec72a946d
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_30.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_31.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a61ee0eaa10d90cad8779e736763ca4f3ae33b35
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_31.obj
@@ -0,0 +1,703 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_32.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..975e5e2b8b1e1eb7e7866352b260e0e014ecc1cb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_32.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_33.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..d8a98549beb4cc8d4582e1984a7fb6ba760a2818
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_33.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_34.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c8bb376762544f872efb8b5ce28e1b19ba243db2
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_34.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_35.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1371305b18230ae7127f491779b85436e75a08bb
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_35.obj
@@ -0,0 +1,268 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_36.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..aa2d2bddd34cf3ef5dd046e85ded9b89dea9e5d1
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_36.obj
@@ -0,0 +1,211 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_37.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..52d9dc9ba17ec5a1a7fd61994e943a8a7f152acf
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_37.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_38.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6fe4a82f5d70ebcc9031741fd5a68797fdd98ce3
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_38.obj
@@ -0,0 +1,109 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_39.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4ce85c7b207b7dff2caedcdc7bded6d0e85f77fe
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_39.obj
@@ -0,0 +1,124 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_4.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a28810c584db45248872ef04f2294856ef74fc56
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_4.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_40.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..41550931bc30626bbbe05e83d6532aaf5e44aa37
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_40.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_41.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b705c8215f47d69a36ff1b80a1d57404f8d3c1f5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_41.obj
@@ -0,0 +1,88 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_5.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b1c709da3ac81f078d7f3c53d3cf3c6f31dffa3f
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_5.obj
@@ -0,0 +1,586 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_6.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a8a15fcbb826eef56a60a2257fbba2489997f7a5
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_6.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_7.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ed1f84b1663cab3be81eca9f427148de2f02db9b
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_7.obj
@@ -0,0 +1,541 @@
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_8.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f89fec8637ffa6a15c7b61e2fd26885b878d2699
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_8.obj
@@ -0,0 +1,499 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_9.obj b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6511a7ef2b1ee68e3ac34acbb8c648bd15c7f171
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mesh/mouthwash_cup_039_collision_9.obj
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diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mouthwash_cup_039.xml b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mouthwash_cup_039.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c361755a25ef08fd69825f9e8e1d2c612a3761df
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mjcf/mouthwash_cup_039.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="mouthwash_cup_039">
+  <asset>
+    <material name="material_0" texture="texture_0_material_0" reflectance="0.2" />
+    <texture name="texture_0_material_0" type="2d" file="mesh/material_0.png" />
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+    <mesh name="collision_mesh_0_0" file="mesh/mouthwash_cup_039_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/mouthwash_cup_039_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/mouthwash_cup_039_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_4" file="mesh/mouthwash_cup_039_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/mouthwash_cup_039_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/mouthwash_cup_039_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/mouthwash_cup_039_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/mouthwash_cup_039_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
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+    <mesh name="collision_mesh_0_41" file="mesh/mouthwash_cup_039_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="mouthwash_cup_039">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
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+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mouthwash_cup_039.urdf b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mouthwash_cup_039.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..c558c37bbcea93bf260771581ba35faf5f20f09a
--- /dev/null
+++ b/dataset/bathroom_supplies/personal_care/3731795cd2fa5e828eb21573151303fc/mouthwash_cup_039.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="mouthwash_cup_039">
+   <link name="mouthwash_cup_039">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_039.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/mouthwash_cup_039_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.65</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="0.0550" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>3731795cd2fa5e828eb21573151303fc</uuid>
+         <domain>bathroom_supplies</domain>
+         <super_category>personal_care</super_category>
+         <category>mouthwash_cup</category>
+         <name>gray rinse cup</name>
+         <color>gray</color>
+         <shape>cylinder</shape>
+         <material>plastic</material>
+         <description>translucent gray tapered cup with thick rounded base</description>
+         <min_height>0.1200</min_height>
+         <max_height>0.1200</max_height>
+         <real_height>0.1200</real_height>
+         <min_mass>0.03</min_mass>
+         <max_mass>0.08</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260611123231</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.052396 -0.052785 -0.045774</min>
+            <max>0.052375 0.052764 0.074226</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>5</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
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